commit a78857f4dd9f32abd64cb320094ac4822c8e64a3
author Austin Schuh <austin.linux@gmail.com> Wed Mar 13 22:43:41 2019 -0700
committer Austin Schuh <austin@peloton-tech.com> Fri Mar 22 18:41:15 2019 -0700
tree 8a2272e2cfd5934e52c56b8b9095f07b5b1396ac
parent 7d3f838b363f5e3f4485b9bbd3aec33b3f7950cb

Sandstorm mode works on the left side now

Change-Id: Icec0056713929740ded78b4fe9a83f0127263a2d

y2019/actors/autonomous_actor.cc

diff --git a/y2019/actors/autonomous_actor.cc b/y2019/actors/autonomous_actor.cc
index 9ed3e6f..d8f7653 100644
--- a/y2019/actors/autonomous_actor.cc
+++ b/y2019/actors/autonomous_actor.cc
@@ -93,13 +93,13 @@
   if (!WaitForGamePiece()) return true;
   LOG(INFO, "Has game piece\n");
 
-  StartDrive(-4.5, 0.0, kJumpDrive, kTurn);
-  if (!WaitForDriveNear(3.8, 10.0)) return true;
+  StartDrive(-4.0, 0.0, kJumpDrive, kTurn);
+  if (!WaitForDriveNear(3.3, 10.0)) return true;
   LOG(INFO, "Lifting\n");
   set_elevator_goal(0.30);
   SendSuperstructureGoal();
 
-  if (!WaitForDriveNear(3.3, 10.0)) return true;
+  if (!WaitForDriveNear(2.8, 10.0)) return true;
   LOG(INFO, "Off the platform\n");
 
   StartDrive(0.0, 1.00, kDrive, kTurn);
@@ -107,7 +107,7 @@
   if (!WaitForSuperstructureDone()) return true;
   LOG(INFO, "Superstructure done\n");
 
-  if (!WaitForDriveNear(1.2, 10.0)) return true;
+  if (!WaitForDriveNear(0.7, 10.0)) return true;
   StartDrive(0.0, -0.35, kDrive, kTurn);
 
   LOG(INFO, "Elevator up\n");
@@ -121,14 +121,6 @@
 
   LOG(INFO, "Done %f\n", DoubleSeconds(monotonic_clock::now() - start_time));
 
-  ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
-                                      ::std::chrono::milliseconds(5) / 2);
-
-  while (!ShouldCancel()) {
-    phased_loop.SleepUntilNext();
-  }
-  LOG(DEBUG, "Done running\n");
-
   return true;
 }